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A calibration apparatus for use with a storage system for storing a plurality of objects in an array of object storage locations. In a preferred embodiment, the calibration apparatus includes a target affixed in a predetermined location to the storage system, an object retrieval mechanism, and an im

A calibration apparatus for use with a storage system for storing a plurality of objects in an array of object storage locations. In a preferred embodiment, the calibration apparatus includes a target affixed in a predetermined location to the storage system, an object retrieval mechanism, and an imaging system. The object retrieval mechanism is used for retrieving objects from the object storage locations and has a principal direction of movement which is perpendicular to a plane in which an exposed surface of each of the plurality of objects lie. The imaging system is attached to the object retrieval mechanism for imaging the target. The imaging system is positioned such that the direction from the target to the imaging system is parallel to the principal direction.

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A calibration apparatus for use with a storage system for storing a plurality of objects in an array of object storage locations. In a preferred embodiment, the calibration apparatus includes a target affixed in a predetermined location to the storage system, an object retrieval mechanism, and an im

A calibration apparatus for use with a storage system for storing a plurality of objects in an array of object storage locations. In a preferred embodiment, the calibration apparatus includes a target affixed in a predetermined location to the storage system, an object retrieval mechanism, and an imaging system. The object retrieval mechanism is used for retrieving objects from the object storage locations and has a principal direction of movement which is perpendicular to a plane in which an exposed surface of each of the plurality of objects lie. The imaging system is attached to the object retrieval mechanism for imaging the target. The imaging system is positioned such that the direction from the target to the imaging system is parallel to the principal direction. otion path comprises defining a set of points along the motion path for movement of the reference point on the end-effector through the points. 3. The method of claim 2, wherein determining the motion path comprises generating straight line legs between the points to create a substantially continuous path. 4. The method of claim 3, wherein generating the motion profiles includes generating a motion profile for each leg. 5. The method of claim 4, wherein generating the motion profiles along the straight line legs of the motion path includes specifying a set of constraints for each of the legs. 6. The method of claim 5, wherein specifying a set of constraints includes defining maximum velocities, accelerations, jerks and jerk rates for translational and rotational movement of the end-effector for each of the legs. 7. The method of claim 4, wherein generating the motion profiles along the straight line legs of the motion path includes the steps of: decomposing each leg into a translation of the reference point with respect to each leg to determine the length of each leg; and determining the rotation of the end-effector with respect to the reference point for each leg to calculate the angular increment of the rotation for each leg. 8. The method of claim 3, wherein generating the motion profiles includes synchronizing the translational and rotational components for each leg so that the translational and rotational components of movement of the end-effector begin at the same time. 9. The method of claim 3, wherein generating the motion profiles includes synchronizing the translational and rotational components of each leg so that the translational and rotational components of movement of the end-effector end at the same time. 10. The method of claim 9, wherein synchronizing includes adjusting the constraints for each leg. 11. The method of claim 4, wherein generating the motion profile for each leg includes decomposing a leg into a plurality of sub legs which can be fully or partially overlapped if constraints associated with the links or actuators of the robotic manipulator are exceeded. 12. The method of claim 1, wherein the step of selecting the reference point includes selecting a center of the substrate holding area on the end-effector as the reference point. 13. The method of claim 1, wherein determining the motion path includes determining whether the predetermined location has a non-radial orientation with respect to the robotic manipulator, and if so, designating a via point so as to be able to generate motion path containing straight-line legs. 14. The method of claim 1, wherein generating the motion path comprises selecting one of at least two different paths for obstacle avoidance and throughput optimization of the robotic manipulator. 15. The method of claim 14, wherein selecting one of at least two different paths comprises selecting a single-leg path or a two-leg path for a leg of the selected path between a retracted position of the robotic manipulator and a via point. 16. An apparatus for movement of at least one substrate to a predetermined location with a specified orientation, comprising: a robotic manipulator having a plurality of joint actuators and at least one end-effector for holding at least one substrate, wherein the at least one end-effector is independently rotatable with respect to the remaining robotic manipulator; a controller connected to the robotic manipulator for generating motion profiles for movement of a substrate holding area of the end-effector along a desired motion path, wherein the controller is programmed for forming the motion profiles from a combination of a translation of a reference point along the motion path and rotation of the end-effector with respect to the reference point, the reference point on the end-effector being offset from a wrist of the robotic manipulator; and wherein the controller determines determine a joint motion profile for each of the joint actuators